CN217214223U

CN217214223U - High-strength flexible robot cable

Info

Publication number: CN217214223U
Application number: CN202220422287.7U
Authority: CN
Inventors: 张星; 赵勇; 刘强
Original assignee: Ningbo Yuanhaibochuang Technology Co ltd
Current assignee: Ningbo Yuanhaibochuang Technology Co ltd
Priority date: 2022-02-28
Filing date: 2022-02-28
Publication date: 2022-08-16
Anticipated expiration: 2032-02-28

Abstract

The utility model discloses a high-strength flexible robot cable, which comprises a robot cable (4) and a wiring part (3) arranged at one end of the robot cable (4); the robot cable (4) comprises an optical fiber (41), the optical fiber (41) adopts a polyether-ether-ketone extrusion coating process to form a polyether-ether-ketone buffering compact cladding layer (414), and a Kevlar woven fabric sheath layer (42), an optical fiber sheath (43), foamed polyurethane (44) and a sheath (45) are sequentially arranged on the outer surface of the polyether-ether-ketone buffering compact cladding layer (414); the robot cable (4) is connected with the pipeline robot through the wiring part (3). The utility model discloses a robot cable adopts polyether ether ketone extrusion cladding technology to form PEEK buffering tight cladding layer, weaves restrictive coating, fiber sheath, foaming polyurethane and sheath multilayer cladding through Kevlar and constitutes enhancement layer, protective layer structure, improves optical transmission performance, stretch-proofing, anti bending property.

Description

High-strength flexible robot cable

Technical Field

The utility model belongs to the technical field of the robot equipment, more specifically relates to a flexible robot cable of high strength.

Background

The power transmission and signal transmission of the existing underwater equipment can not be separated from optical fiber cables, such as underwater robots, underwater equipment, underwater salvage and other related products, and the use or working environment of the existing underwater equipment is severe. The robot cable is particularly important for robots as a carrier and important components for transmitting power and control capabilities. When the robot cable is used for the robot, like a central system for the human, any ring has a problem, and the whole system cannot operate normally. Because the use environment is often harsh, the robot cable must have a series of special properties, such as mechanical properties, acid and alkali resistance, bending resistance, torsion resistance, floating and the like, especially high-precision equipment.

Besides the electrical property, weather resistance and other basic requirements of the underwater robot cable can be matched with equipment, the main basic characteristic is that the underwater robot cable can withstand long-time bending movement and large-angle twisting movement and can guarantee normal operation. As shown in fig. 1, the pipeline robot 2 often works in the pipeline 1, and makes a tour and an inspection of the pipeline 1, and once a problem such as a leak is found, an alarm or a treatment is given in time. Robot cable 4 one end is passed through wiring portion 3 and is realized being connected between with pipeline robot 2, and the other end extends to the pipeline 1 outside, realizes robot cable 4's receive and release work through cable jack 5. Because the pipeline 1 is generally long, the robot cable 4 extends for hundreds of meters along the pipeline 1, and the robot cable 4 bears large tensile force under the driving action of the pipeline robot 2, so that the robot cable 4 is required to have large tensile strength. In addition, the pipeline robot 2 moves in real time, so that the robot cable 4 is driven to be twisted at high frequency, and therefore the robot cable 4 is required to have high torsion resistance.

The existing structure is that an armor and a protective layer are added outside an optical fiber, the structure has the advantages of mature forming process and low requirement on equipment, but after the optical cable is used for multiple times in a product using the structure in the underwater robot industry, the optical fiber is subjected to the effects of tension, torsion, winding and the like, the fiber core at the butt joint of the cable and the robot is broken or attenuated and the like, and the action safety and distance of the pipeline robot are greatly limited.

SUMMERY OF THE UTILITY MODEL

To the above defect or the improvement demand of prior art, the utility model provides a high strength flexible robot cable adopts polyether ether ketone extrusion cladding technology, forms PEEK buffering tight covering to weave through Kevlar and knit restrictive coating, fiber sheath, foaming polyurethane and sheath multilayer cladding and constitute enhancement layer, protective layer structure, improve performances such as optical transmission performance, stretch-proofing, anti bending.

In order to achieve the above object, the utility model provides a high-strength flexible robot cable, which comprises a robot cable and a wiring part arranged at one end of the robot cable; wherein the content of the first and second substances,

the robot cable comprises an optical fiber, wherein the optical fiber adopts a polyether-ether-ketone extrusion coating process to form a polyether-ether-ketone buffer tight coating layer as a reinforcing layer of the optical fiber;

the outer surface of the polyether-ether-ketone buffering compact cladding layer is sequentially provided with a Kevlar woven protective sleeve layer, an optical fiber protective sleeve, foamed polyurethane and a protective sleeve, the Kevlar woven protective sleeve layer is used as a tensile layer and an anti-torsion layer of the robot cable, and the optical fiber protective sleeve, the foamed polyurethane and the protective sleeve jointly form an inner protective sleeve and an outer protective sleeve of the robot cable;

the wiring portion is of a graded stripping and annular winding structure, the robot cable multilayer structure is separated layer by layer, and connection with the pipeline robot is achieved through the wiring portion.

Furthermore, the optical fiber sequentially comprises a fiber core, a cladding and a polyimide resin layer from inside to outside.

Further, the diameter of the fiber core is 9-15 μm.

Further, the outer diameter of the cladding is 125-150 μm.

Further, the outer diameter of the optical fiber coated with the polyimide resin layer is 0.25mm to 0.35 mm.

Further, the wiring portion includes inner and outer sheath annular winding portions, a Kevlar braid annular winding portion, an armor core annular winding portion, and a core winding portion.

Further, the wire connecting portion includes a core fusion bead.

Further, the optical fiber is a single mode optical fiber or a multimode optical fiber.

Generally, through the utility model discloses above technical scheme who conceives compares with prior art, can gain following beneficial effect:

1. the utility model discloses a robot cable adopts polyether ether ketone extrusion cladding technology, forms PEEK buffering tight cladding layer to weave through Kevlar and weave and knit restrictive coating, optic fibre sheath, foaming polyurethane and sheath multilayer cladding and constitute enhancement layer, protective layer structure, improve performances such as optical transmission performance, stretch-proofing, bending resistance.

2. The utility model discloses a robot cable, Kevlar weaving layer provide the main mechanical strength of cable, and the sheath adopts resistant various chemical corrosion, tear resistance, wear resistance good, and the wide-range-45- +80 ℃ of service temperature range, cable mechanical strength is high, and has certain flexibility concurrently.

3. The utility model discloses a robot cable adopts PEEK extrusion cladding back fibre core to need not the fiber reinforcement, can directly regard as single core optic fibre and various fiber connector combination to form various optic fibre wire jumpers or tail fiber and have light in weight, and assembly density is high, stable performance, advantages such as low cost.

4. The utility model discloses a mechanical properties and the flexibility of optic fibre core component are compromise to robot cable, PEEK tight covering layer, and can improve the transmission efficiency of optic fibre, reduce the loss.

5. The utility model discloses a robot cable adopts and peels off in grades, and annular winding mode has realized that robot cable successive layer separation winding is fixed, realizes fibre core and the inside cable junction of robot, and firm in connection not only improves optics transmission performance moreover, effectively solves current robot cable connection jail, and the fracture is twisted easily or transmission efficiency hangs down the scheduling problem under the long-term abominable operating mode environment.

Drawings

Fig. 1 is a schematic view of the connection arrangement of a robot cable and a robot according to an embodiment of the present invention;

fig. 2 is a schematic view of a composition structure of a robot cable according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of an optical fiber according to an embodiment of the present invention;

fig. 4 is a schematic diagram of the connection between the robot cable and the pipeline robot according to the embodiment of the present invention;

FIG. 5 is a schematic view of a process for manufacturing a single mode optical fiber by a peek extrusion cladding process according to an embodiment of the present invention;

fig. 6 is a schematic flow chart of a manufacturing method of a robot cable according to an embodiment of the present invention.

In all the figures, the same reference numerals denote the same features, in particular: 1-pipeline, 2-pipeline robot, 3-wiring part, 4-robot cable and 5-cable retraction mechanism;

41-optical fiber, 42-Kevlar braided sheath layer, 43-optical fiber sheath, 44-foaming polyurethane and 45-sheath;

301-inner and outer sheath annular winding part, 302-Kevlar braid annular winding part, 303-armored fiber core annular winding part, 304-fiber core winding part, 305-fiber core welding point, 306-inner robot cable;

411-fiber core, 412-cladding, 413-polyimide resin layer and 414-polyetheretherketone buffer compact cladding.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention. Furthermore, the technical features mentioned in the embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

As shown in fig. 2, in the embodiment of the present invention, a high-strength flexible underwater robot cable is provided, which adopts a new structure design and sequentially includes an optical fiber 41, a kevlar woven fabric sheath layer 42, an optical fiber sheath 43, a foamed polyurethane 44 and a sheath 45 from inside to outside. As shown in fig. 3, the optical fiber 41 includes, in order from inside to outside, a fiber core 411, a cladding 412, a polyimide resin layer 413, and a peek buffer upjacket layer 414.

Preferably, the optical fiber 41 adopts a poly-ether-ether-ketone (PEEK) extrusion coating process to form a PEEK buffering tight cladding layer, so as to improve optical transmission performance, tensile performance, bending performance and the like; the outer diameter of the cladding is 125-150 μm, and the diameter of the single-mode fiber core is 9-15 μm; the outer diameter of the optical fiber coated with the polyimide resin coating is 0.25 mm-0.35 mm. The PEEK tight cladding layer gives consideration to the mechanical property and flexibility of the optical fiber core component, can improve the transmission efficiency of the optical fiber and reduce the loss.

As shown in fig. 4, the robot cable further includes a wiring portion 3, and the wiring portion 3 adopts a graded peeling and annular winding manner to separate the robot cable 4 layer by layer and then connect with the robot. The wire connecting portion 3 includes an inner and outer sheath annular winding portion 301, a kevlar braid annular winding portion 302, an armored core annular winding portion 303, a core winding portion 304, and a core fusion welding point 305. After the robot cable 4 enters the connection portion 3, the optical fiber sheath 43, the foamed polyurethane 44 and the sheath 45 are peeled off, the Kevlar woven fabric sheath layer 42 is peeled off after passing through the inner and outer sheath ring winding portions 301, the Kevlar woven fabric sheath layer is retained by the Kevlar woven fabric layer ring winding portion 302, the optical fiber 41 leaks, the peeling resin layer 413 and the polyether ether ketone buffer tight-covering layer 414 pass through the armored fiber core ring winding portion 303, the peeling covering layer 412 and the leaking fiber core 411 pass through the fiber core winding portion 304, and then the fiber core welding point 305 and the robot inner cable 306 are welded, so that the robot cable 4 is connected with the pipeline robot 2. The utility model discloses a wiring portion adopts the hierarchical peeling off, and the annular winding mode has realized that robot cable successive layer separation winding is fixed, realizes fibre core and the inside cable junction of robot, and firm in connection not only improves optics transmission performance moreover, effectively solves current robot cable connection jail, and the fracture is twisted easily or transmission efficiency hangs down the scheduling problem under the long-term abominable operating mode environment. The utility model discloses the cable junction adopts special construction, fixes each layer of cable respectively, has strengthened the connection performance of cable and equipment, and the joint that can fine solution this field ubiquitous is not hard up, the optic fibre problem of splitting.

Preferably, the Kevlar woven fabric sheath layer 42 covers the outer surface of the optical fiber 41 to form a reinforcing layer, the tensile strength of the reinforcing layer is 600N-1200N, and the temperature resistance range of the reinforcing layer is-45 ℃ to +80 ℃. The Kevlar braided layer provides the main mechanical strength of the cable, the sheath is resistant to various chemical corrosion, tear-resistant and good in wear resistance, the use temperature range is wide from minus 45 ℃ to plus 80 ℃, the cable is high in mechanical strength and has certain flexibility.

The traditional tightly-packed optical fiber is formed by extruding a soft polyvinyl chloride or flame-retardant polyolefin plastic tightly-packed protective layer as a buffer layer on an optical fiber external extrusion molding method, but the optical fiber cannot be fundamentally protected in mechanical property, so that the optical fiber can be independently used only by using additional tensile materials such as aramid fiber and the like and a protective layer to carry out mechanical and environmental protection like the single-core optical cable. In addition, the maximum service temperature of the traditional tightly-packed optical fiber is 80 ℃, so that the traditional tightly-packed optical fiber cannot be used in many special occasions which need to be used in a high-temperature environment.

Therefore, as shown in fig. 5, an embodiment of the present invention provides a method for manufacturing a robot cable, which first prepares an optical fiber 41 having a PEEK plastic buffer layer, and specifically includes the following steps:

s100: coating an optical fiber cladding 412 on the outer surface of the fiber core 411 to manufacture an optical fiber 41, wherein the optical fiber 41 is a single-mode optical fiber or a multimode optical fiber, and the outer diameters of the single-mode optical fiber and the multimode optical fiber are both 125 micrometers;

s200: drawing the optical fiber 41 in an optical fiber drawing tower, coating a polyimide resin layer 413 on the outer surface of the optical fiber while drawing, wherein the outer diameter of the optical fiber 41 coated with the polyimide resin layer 413 is 0.25 mm;

s300: and (3) extruding and molding the polyether-ether-ketone buffer tight cladding layer 414 on the periphery of the polyimide resin layer 413 by using a high-temperature plastic extruder to finish the manufacture of the novel tight cladding optical fiber with the outer diameter of 0.9mm and the tensile strength of 180N.

The utility model discloses a PEEK extrusion cladding back fibre core need not the fiber reinforcement, can directly regard as single core optic fibre to form various optic fibre wire jumpers or tail optical fiber with various fiber connector combinations and have light in weight, and assembly density is high, stable performance, advantages such as low cost.

Then, the optical fiber 41 coated with the PEEK plastic buffer layer is coated to prepare the robot cable 4, which includes:

s400: the Kevlar fiber is woven by a weaving machine, covers the periphery of the PEEK plastic buffer layer and serves as a reinforcing layer, and the tensile strength is 800N, and the temperature resistance range is minus 45 ℃ to plus 80 ℃;

s500: extruding polyimide by using a high-temperature extruding machine, and wrapping the polyimide on the periphery of the reinforced layer to be used as a sheath layer, wherein the temperature resistance range is-45 ℃ to +80 ℃;

s600: extruding foaming polyurethane by a high-temperature extruding machine, and wrapping the foaming polyurethane outside the sheath layer, wherein the temperature resistance range is-45 ℃ to +80 ℃;

s700: and extruding polyurethane by a high-temperature extruding machine, and wrapping the polyurethane outside the sheath layer, wherein the temperature resistance range is-45 ℃ to +80 ℃.

The utility model discloses a robot cable manufacturing approach, forming process is ripe, for traditional belt armor or multiple additional strengthening of weaving, this cable structure is simple relatively, and each layer material matching nature is better, and the product is fit for all kinds of equipment use under water.

It will be understood by those skilled in the art that the foregoing is merely a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included within the scope of the present invention.

Claims

1. A high-strength flexible robot cable is characterized by comprising a robot cable (4) and a wiring part (3) arranged at one end of the robot cable (4); wherein the content of the first and second substances,

the robot cable (4) comprises an optical fiber (41), the optical fiber (41) comprises a polyetheretherketone buffer upjacket layer (414) as a reinforcing layer of the optical fiber (41);

the outer surface of the polyether-ether-ketone buffering tight cladding layer (414) is sequentially provided with a Kevlar woven protective sleeve layer (42), an optical fiber protective sleeve (43), foamed polyurethane (44) and a protective sleeve (45), the Kevlar woven protective sleeve layer (42) is used as a tensile and anti-torsion layer of the robot cable (4), and the optical fiber protective sleeve (43), the foamed polyurethane (44) and the protective sleeve (45) jointly form an inner protective sleeve and an outer protective sleeve of the robot cable (4);

wiring portion (3) are hierarchical peeling off, annular winding structure, robot cable (4) multilayer structure successive layer separation to realize being connected with pipeline robot through wiring portion (3).

2. A high-strength flexible robot cable according to claim 1, wherein the optical fiber (41) comprises a fiber core (411), a cladding (412) and a polyimide resin layer (413) in sequence from inside to outside.

3. A high strength flexible robot cable according to claim 2, characterized in that the diameter of the core (411) is 9-15 μm.

4. A high strength flexible robot cable according to claim 2, wherein the outer diameter of the cladding (412) is 125 μm to 150 μm.

5. The high-strength flexible robot cable according to claim 2, wherein the optical fiber (41) coated with the polyimide resin layer (413) has an outer diameter of 0.25mm to 0.35 mm.

6. A high strength flexible robot cable according to any of claims 1-5, characterized in that the wire connection part (3) comprises an inner and outer sheath toroid wound part (301), a Kevlar braid toroid wound part (302), an armored core toroid wound part (303) and a core toroid wound part (304).

7. A high strength flexible robot cable according to claim 6, characterized in that the wire connection part (3) comprises a core solder (305).

8. A high strength flexible robot cable according to any of claims 1-5, characterized in that the optical fiber (41) is a single mode fiber or a multimode fiber.